The Simulink model of Figure 1 contains a continuous time quarter car model The tutorial is split into the following sections,Ī Simulink model that implements a slip control loop using the extended Kalmanįilter developed in this tutorial is shown in Figure 1.įigure 1: Simulink Model for Vehicle Slip Control using an Extended Implementation in Simulink, can be found on the Tutorials on general Simulink usage, Kalman filters, and their Implementing a slip controller assuming perfect state measurement see theįor a discussion of the mathematical background of the extended Kalman filter see theĪn Introduction to the Extended Kalman Filter This tutorial assumes that the reader is familiar with the basics of the quarterĬar model and the extended Kalman Filter.įor a discussion of the dynamic equations of a quarter car model and Various of the vehicle states (such as longitudinal speed, wheel slip, road surfaceįriction coefficient, and mass) are not directly measurable and hence mustĪn extended Kalman filter is implemented to perform the estimation based onĪ noisy measurement of wheel angular velocity. In this tutorial a slip control loop for a quarter car model is developed. Using an Extended Kalman Filter for Estimating Vehicle Dynamics and Mass
0 Comments
Leave a Reply. |
AuthorWrite something about yourself. No need to be fancy, just an overview. ArchivesCategories |